MBDyn-1.7.3
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#include <vehj3.h>
Public Member Functions | |
ElasticJointInv (unsigned int uL, const DofOwner *pDO, const ConstitutiveLaw6D *pCL, const StructNode *pN1, const StructNode *pN2, const Vec3 &tilde_f1, const Vec3 &tilde_f2, const Mat3x3 &tilde_R1h, const Mat3x3 &tilde_R2h, const OrientationDescription &od, flag fOut) | |
~ElasticJointInv (void) | |
virtual ConstLawType::Type | GetConstLawType (void) const |
virtual void | AfterConvergence (const VectorHandler &X, const VectorHandler &XP) |
virtual void | AssMats (VariableSubMatrixHandler &WorkMatA, VariableSubMatrixHandler &WorkMatB, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr) |
virtual void | AfterPredict (VectorHandler &X, VectorHandler &XP) |
virtual void | InitialWorkSpaceDim (integer *piNumRows, integer *piNumCols) const |
virtual VariableSubMatrixHandler & | InitialAssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr) |
Public Member Functions inherited from Elem | |
Elem (unsigned int uL, flag fOut) | |
virtual | ~Elem (void) |
virtual std::ostream & | DescribeDof (std::ostream &out, const char *prefix="", bool bInitial=false) const |
virtual void | DescribeDof (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const |
virtual std::ostream & | DescribeEq (std::ostream &out, const char *prefix="", bool bInitial=false) const |
virtual void | DescribeEq (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const |
void | SetInverseDynamicsFlags (unsigned uIDF) |
unsigned | GetInverseDynamicsFlags (void) const |
bool | bIsErgonomy (void) const |
bool | bIsRightHandSide (void) const |
virtual VariableSubMatrixHandler & | AssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr) |
virtual int | GetNumConnectedNodes (void) const |
Public Member Functions inherited from WithLabel | |
WithLabel (unsigned int uL=0, const std::string &sN="") | |
virtual | ~WithLabel (void) |
void | PutLabel (unsigned int uL) |
void | PutName (const std::string &sN) |
unsigned int | GetLabel (void) const |
const std::string & | GetName (void) const |
Public Member Functions inherited from SimulationEntity | |
SimulationEntity (void) | |
virtual | ~SimulationEntity (void) |
virtual bool | bIsValidIndex (unsigned int i) const |
virtual DofOrder::Order | GetEqType (unsigned int i) const |
virtual void | BeforePredict (VectorHandler &, VectorHandler &, VectorHandler &, VectorHandler &) const |
virtual void | Update (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr) |
virtual void | DerivativesUpdate (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr) |
virtual void | AfterConvergence (const VectorHandler &X, const VectorHandler &XP, const VectorHandler &XPP) |
virtual void | ReadInitialState (MBDynParser &HP) |
Public Member Functions inherited from ToBeOutput | |
ToBeOutput (flag fOut=fDefaultOut) | |
virtual | ~ToBeOutput (void) |
virtual void | Output (OutputHandler &OH, const VectorHandler &X, const VectorHandler &XP) const |
virtual flag | fToBeOutput (void) const |
virtual bool | bToBeOutput (void) const |
virtual void | SetOutputFlag (flag f=flag(1)) |
Public Member Functions inherited from DeformableJoint | |
DeformableJoint (unsigned int uL, const DofOwner *pDO, const ConstitutiveLaw6D *pCL, const StructNode *pN1, const StructNode *pN2, const Vec3 &tilde_f1, const Vec3 &tilde_f2, const Mat3x3 &tilde_R1h, const Mat3x3 &tilde_R2h, const OrientationDescription &od, flag fOut) | |
virtual | ~DeformableJoint (void) |
virtual Joint::Type | GetJointType (void) const |
virtual std::ostream & | Restart (std::ostream &out) const |
void | OutputPrepare (OutputHandler &OH) |
virtual void | Output (OutputHandler &OH) const |
void | SetValue (DataManager *pDM, VectorHandler &X, VectorHandler &XP, SimulationEntity::Hints *ph=0) |
virtual Hint * | ParseHint (DataManager *pDM, const char *s) const |
virtual bool | bInverseDynamics (void) const |
virtual unsigned int | iGetNumDof (void) const |
virtual DofOrder::Order | GetDofType (unsigned int) const |
virtual void | WorkSpaceDim (integer *piNumRows, integer *piNumCols) const |
virtual unsigned int | iGetInitialNumDof (void) const |
virtual unsigned int | iGetNumPrivData (void) const |
virtual unsigned int | iGetPrivDataIdx (const char *s) const |
virtual doublereal | dGetPrivData (unsigned int i) const |
virtual void | GetConnectedNodes (std::vector< const Node * > &connectedNodes) const |
virtual VariableSubMatrixHandler & | AssJac (VariableSubMatrixHandler &WorkMat, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr) |
virtual SubVectorHandler & | AssRes (SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr) |
SubVectorHandler & | AssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr, const VectorHandler &XPrimePrimeCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS) |
virtual SubVectorHandler & | InitialAssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr) |
Public Member Functions inherited from Joint | |
Joint (unsigned int uL, const DofOwner *pD, flag fOut) | |
virtual | ~Joint (void) |
virtual Elem::Type | GetElemType (void) const |
std::ostream & | Output (std::ostream &out, const char *sJointName, unsigned int uLabel, const Vec3 &FLocal, const Vec3 &MLocal, const Vec3 &FGlobal, const Vec3 &MGlobal) const |
virtual void | SetInitialValue (VectorHandler &) |
virtual void | Update (const VectorHandler &XCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS) |
bool | bIsPrescribedMotion (void) const |
bool | bIsTorque (void) const |
Public Member Functions inherited from ElemGravityOwner | |
ElemGravityOwner (unsigned int uL, flag fOut) | |
virtual | ~ElemGravityOwner (void) |
virtual doublereal | dGetM (void) const |
Vec3 | GetS (void) const |
Mat3x3 | GetJ (void) const |
Vec3 | GetB (void) const |
Vec3 | GetG (void) const |
Public Member Functions inherited from GravityOwner | |
GravityOwner (void) | |
virtual | ~GravityOwner (void) |
void | PutGravity (const Gravity *pG) |
virtual bool | bGetGravity (const Vec3 &X, Vec3 &Acc) const |
Public Member Functions inherited from ElemWithDofs | |
ElemWithDofs (unsigned int uL, const DofOwner *pDO, flag fOut) | |
virtual | ~ElemWithDofs (void) |
Public Member Functions inherited from DofOwnerOwner | |
DofOwnerOwner (const DofOwner *pDO) | |
virtual | ~DofOwnerOwner () |
virtual const DofOwner * | pGetDofOwner (void) const |
virtual integer | iGetFirstIndex (void) const |
Public Member Functions inherited from InitialAssemblyElem | |
InitialAssemblyElem (unsigned int uL, flag fOut) | |
virtual | ~InitialAssemblyElem (void) |
Public Member Functions inherited from SubjectToInitialAssembly | |
SubjectToInitialAssembly (void) | |
virtual | ~SubjectToInitialAssembly (void) |
Public Member Functions inherited from ConstitutiveLawOwner< T, Tder > | |
ConstitutiveLawOwner (const ConstitutiveLaw< T, Tder > *pCL) | |
virtual | ~ConstitutiveLawOwner (void) |
ConstitutiveLaw< T, Tder > * | pGetConstLaw (void) const |
void | Update (const T &Eps, const T &EpsPrime=mb_zero< T >()) |
void | AfterConvergence (const T &Eps, const T &EpsPrime=mb_zero< T >()) |
const T & | GetF (void) const |
const Tder & | GetFDE (void) const |
const Tder & | GetFDEPrime (void) const |
virtual std::ostream & | DescribeDof (std::ostream &out, const char *prefix="", bool bInitial=false) const |
virtual void | DescribeDof (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const |
virtual std::ostream & | DescribeEq (std::ostream &out, const char *prefix="", bool bInitial=false) const |
virtual void | DescribeEq (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const |
virtual std::ostream & | OutputAppend (std::ostream &out) const |
Protected Member Functions | |
void | AssMats (FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, doublereal dCoef) |
void | AssVec (SubVectorHandler &WorkVec) |
Protected Member Functions inherited from DeformableJoint | |
void | AssMatCommon (FullSubMatrixHandler &WM, doublereal dCoef) |
void | AssMatElastic (FullSubMatrixHandler &WM, doublereal dCoef, const Mat6x6 &FDE) |
void | AssMatViscous (FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, doublereal dCoef, const Mat6x6 &FDEPrime) |
Protected Member Functions inherited from Joint | |
virtual void | OutputPrepare_int (const std::string &type, OutputHandler &OH, std::string &name) |
Protected Member Functions inherited from ElemGravityOwner | |
virtual Vec3 | GetS_int (void) const |
virtual Mat3x3 | GetJ_int (void) const |
virtual Vec3 | GetB_int (void) const |
virtual Vec3 | GetG_int (void) const |
Protected Attributes | |
Vec3 | ThetaRef |
Mat6x6 | FDE |
Protected Attributes inherited from WithLabel | |
unsigned int | uLabel |
std::string | sName |
Protected Attributes inherited from ToBeOutput | |
flag | fOutput |
Protected Attributes inherited from DeformableJoint | |
const StructNode * | pNode1 |
const StructNode * | pNode2 |
Vec3 | tilde_f1 |
Vec3 | tilde_f2 |
Mat3x3 | tilde_R1h |
Mat3x3 | tilde_R2h |
OrientationDescription | od |
Vec6 | tilde_k |
Vec6 | tilde_kPrime |
bool | bFirstRes |
Vec3 | d1 |
Vec3 | d2 |
Vec3 | d1Prime |
Vec3 | d2Prime |
Mat3x3 | R1h |
Vec6 | F |
Protected Attributes inherited from GravityOwner | |
Gravity * | pGravity |
Protected Attributes inherited from ConstitutiveLawOwner< T, Tder > | |
ConstitutiveLaw< T, Tder > * | pConstLaw |
ElasticJointInv::ElasticJointInv | ( | unsigned int | uL, |
const DofOwner * | pDO, | ||
const ConstitutiveLaw6D * | pCL, | ||
const StructNode * | pN1, | ||
const StructNode * | pN2, | ||
const Vec3 & | tilde_f1, | ||
const Vec3 & | tilde_f2, | ||
const Mat3x3 & | tilde_R1h, | ||
const Mat3x3 & | tilde_R2h, | ||
const OrientationDescription & | od, | ||
flag | fOut | ||
) |
Definition at line 1014 of file vehj3.cc.
References FDE, ConstitutiveLawOwner< T, Tder >::GetFDE(), MultRMRt(), and DeformableJoint::R1h.
ElasticJointInv::~ElasticJointInv | ( | void | ) |
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Reimplemented from SimulationEntity.
Definition at line 1042 of file vehj3.cc.
References ConstitutiveLawOwner< T, Tder >::AfterConvergence(), and DeformableJoint::tilde_k.
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Reimplemented from SimulationEntity.
Definition at line 1126 of file vehj3.cc.
References DeformableJoint::bFirstRes, DeformableJoint::d1, DeformableJoint::d2, RotManip::DRot_I(), FDE, ConstitutiveLawOwner< T, Tder >::GetFDE(), StructNode::GetRCurr(), StructNode::GetRRef(), StructDispNode::GetXCurr(), Mat3x3::MulTM(), MultRMRtGammam1(), Mat3x3::MulTV(), DeformableJoint::pNode1, DeformableJoint::pNode2, DeformableJoint::R1h, RotManip::Rot(), ThetaRef, DeformableJoint::tilde_f1, DeformableJoint::tilde_f2, DeformableJoint::tilde_k, DeformableJoint::tilde_R1h, DeformableJoint::tilde_R2h, ConstitutiveLawOwner< T, Tder >::Update(), and RotManip::VecRot().
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Implements DeformableJoint.
Definition at line 1082 of file vehj3.cc.
References DeformableJoint::AssMatCommon(), DeformableJoint::AssMatElastic(), and FDE.
Referenced by AssMats(), and InitialAssJac().
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Reimplemented from Elem.
Definition at line 1050 of file vehj3.cc.
References AssMats(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), DeformableJoint::pNode1, DeformableJoint::pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), VariableSubMatrixHandler::SetNullMatrix(), and Elem::WorkSpaceDim().
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Implements DeformableJoint.
Definition at line 1091 of file vehj3.cc.
References VectorHandler::Add(), DeformableJoint::bFirstRes, Vec3::Cross(), DeformableJoint::d1, DeformableJoint::d2, Eye3, DeformableJoint::F, ConstitutiveLawOwner< T, Tder >::GetF(), StructNode::GetRCurr(), StructNode::GetRRef(), Vec6::GetVec1(), Vec6::GetVec2(), StructDispNode::GetXCurr(), grad::Inv(), MultRV(), Mat3x3::MulTV(), DeformableJoint::pNode1, DeformableJoint::pNode2, DeformableJoint::R1h, RotManip::Rot(), VectorHandler::Sub(), DeformableJoint::tilde_f1, DeformableJoint::tilde_f2, DeformableJoint::tilde_k, DeformableJoint::tilde_R1h, DeformableJoint::tilde_R2h, Mat3x3::Transpose(), ConstitutiveLawOwner< T, Tder >::Update(), and RotManip::VecRot().
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Implements DeformableJoint.
Definition at line 344 of file vehj3.h.
References ConstLawType::ELASTIC.
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Implements SubjectToInitialAssembly.
Definition at line 1163 of file vehj3.cc.
References AssMats(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), DeformableJoint::pNode1, DeformableJoint::pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), and VariableSubMatrixHandler::SetFull().
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Implements SubjectToInitialAssembly.
Definition at line 362 of file vehj3.h.
Referenced by InitialAssJac().
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Definition at line 321 of file vehj3.h.
Referenced by AfterPredict(), AssMats(), and ElasticJointInv().
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Definition at line 319 of file vehj3.h.
Referenced by AfterPredict().